Treatment tool control system

Abstract

A surgical tool control system according to one embodiment includes a drive assembly capable of advancing, reversing, or rotating an attached surgical tool, and an operating handle into which a command to be transmitted to the drive assembly is input from a user, wherein the operating handle generates a forward or reverse signal for the surgical tool when the operating handle is moved forward or reverse along a first axis, respectively, and generates a clockwise or counterclockwise rotation signal for the surgical tool when the operating handle is rotated clockwise or counterclockwise around the first axis, respectively.

Description

[Technical Field]

[0001] The following embodiments relate to a surgical tool control system including an operating handle. [Background technology]

[0002] In conventional percutaneous coronary intervention (PCI) procedures, the surgeon faces the risk of continuous radiation exposure, and training skilled surgeons to perform the procedure reliably requires significant time and expense. Furthermore, the level of surgical completion varies significantly between surgeons, regions, and hospitals, making it difficult to provide high-quality medical services universally. To address these shortcomings, interventional robots have been introduced. For example, interventional robots can be configured to move surgical tools forward, backward, or rotate in response to user input. To improve the precision of procedures performed using such interventional robots, a structure that can improve user convenience is required.

[0003] The above-mentioned background art was held or acquired by the inventors in the process of deriving the contents of the disclosure of this specification, and is not necessarily publicly known art that was disclosed to the general public prior to the filing of this application. Summary of the Invention [Problem to be solved by the invention]

[0004] An object of one embodiment is to provide a treatment tool control system that improves user convenience in operation.

[0005] An object of one embodiment is to provide a surgical tool control system that allows a user to easily and precisely input surgical tool control commands. [Means for solving the problem]

[0006] In one embodiment, the surgical tool control system includes a drive assembly capable of advancing, reversing, or rotating an attached surgical tool, and an operating handle into which a command is input from a user to be transmitted to the drive assembly, wherein the operating handle generates a forward or reverse signal for the surgical tool when the operating handle is advanced or reversed along a first axis, respectively, and generates a clockwise or counterclockwise rotation signal for the surgical tool when the operating handle is rotated clockwise or counterclockwise around the first axis, respectively.

[0007] The operating handle may further include a jog wheel coupled to the operating handle and rotatable about a second axis relative to the operating handle, wherein the jog wheel may generate a clockwise or counterclockwise rotation signal of the treatment tool when the jog wheel rotates clockwise or counterclockwise about the second axis, respectively.

[0008] The jog wheel may be configured to rotate discretely in first angle increments around the second axis relative to the operating handle, and when the jog wheel rotates by the first angle, the jog wheel may generate a signal to rotate the treatment tool by a second angle.

[0009] The second angle may be set to be the same as the first angle, or may be set to be an angle obtained by multiplying the first angle by a scale factor.

[0010] The second angle may be between 1 degree and 5 degrees.

[0011] The device may further include a haptic actuator that provides haptic feedback to the jog wheel when an input exceeding the limit is input to the jog wheel in a state where the drive assembly has reached a limit at which it can no longer rotate the treatment tool.

[0012] The haptic feedback can provide rotational resistance in a direction that prevents the jog wheel from rotating when the jog wheel attempts to rotate further in the direction in which the limit has been reached.

[0013] The haptic feedback may reduce rotational resistance in a direction in which the jog wheel rotates when the jog wheel attempts to rotate further in a direction in which the limit has been reached.

[0014] The haptic feedback can elastically return the jog wheel to its original position if the jog wheel rotates further in the direction of the limit.

[0015] The device may further include a toggle switch for changing a mode of the jog wheel, and depending on the state of the toggle switch, the jog wheel may generate a rotation signal for the treatment tool or a forward / backward signal for the treatment tool when the jog wheel rotates around the second axis.

[0016] The operating handle can change the rotation speed of the surgical instrument in proportion to the rotation angle of the operating handle when the operating handle rotates around the first axis.

[0017] When the operating handle rotates around the first axis, the rotation speed of the treatment tool can be changed discretely according to a section to which a rotation angle of the operating handle belongs.

[0018] The operating handle can change the forward or backward speed of the surgical tool depending on the degree to which the operating handle is advanced or retreated along the first axis.

[0019] The operating handle can discretely change the forward or backward speed of the surgical tool depending on a section to which a stroke in which the operating handle is advanced or retreated around the first axis belongs.

[0020] The surgical tool may further include a first jog wheel coupled to the operating handle and rotatable about a second axis relative to the operating handle, and a second jog wheel coupled to the operating handle and rotatable about a third axis relative to the operating handle, wherein one of the first jog wheel and the second jog wheel generates a clockwise or counterclockwise rotation signal for the surgical tool, and the other generates a forward or backward movement signal for the surgical tool.

[0021] The treatment tool may further include a first jog wheel coupled to the operating handle and rotatable about a second axis relative to the operating handle, and a second jog wheel coupled to the operating handle and rotatable about a third axis relative to the operating handle, wherein the forward / backward movement of the operating handle, the rotation of the operating handle, the rotation of the first jog wheel, and the rotation of the second jog wheel may be assigned to one of a first forward / backward movement of the treatment tool, a first rotational movement of the treatment tool, a second forward / backward movement of the treatment tool, and a second rotational movement of the treatment tool, respectively.

[0022] The drive assembly includes a first roller module and a second roller module, and the drive assembly can rotate the first roller module and the second roller module to move the treatment tool forward or backward while the treatment tool is held between the first roller module and the second roller module, or can move at least one of the first roller module and the second roller module vertically to rotate the treatment tool.

[0023] The operating handle may further include a jog wheel coupled to the operating handle and rotatable about a second axis relative to the operating handle, wherein the jog wheel may generate a forward or backward movement signal for the treatment tool when the jog wheel rotates clockwise or counterclockwise about the second axis.

[0024] The jog wheel rotates discretely in first angle units around a second axis relative to the operating handle, and when the jog wheel rotates by the first angle, the jog wheel can generate a signal to move the treatment tool forward or backward by a first pitch.

[0025] The first angle may be between 1 degree and 5 degrees, and the first pitch may be between 0.5 mm and 1.5 mm. [Effects of the Invention]

[0026] According to an embodiment of the treatment tool control system, it is possible to improve the convenience of operation for the user.

[0027] According to an embodiment of the treatment tool control system, a user can easily and precisely input a treatment tool control command.

[0028] The effects of the treatment tool control system according to one embodiment are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description. [Brief explanation of the drawings]

[0029] [Figure 1] 1 is a schematic perspective view of a surgical tool control system according to one embodiment. FIG. [Figure 2] FIG. 1 is a perspective view of a drive assembly according to one embodiment. [Figure 3] FIG. 1 is a plan view of a drive assembly according to one embodiment. [Figure 4] FIG. 10 is a view illustrating a state in which a drive assembly according to one embodiment is used. [Figure 5] 10 illustrates a process in which a roller module of a drive assembly advances and retreats a surgical tool according to one embodiment. [Figure 6] 10 illustrates how a roller module of a drive assembly rotates a surgical tool, according to one embodiment. [Figure 7] FIG. 1 is a perspective view of an operating assembly according to one embodiment. [Figure 8] FIG. 1 is a perspective view of an operating assembly according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0030] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, various modifications may be made to the embodiments, and the scope of the patent application is not limited or restricted by such embodiments. It should be understood that all modifications, equivalents, and alternatives to the embodiments are included in the scope of the patent.

[0031] The terms used in the embodiments are merely used for the purpose of explanation and are not to be construed as limiting. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this specification, the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, and should be understood as not precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0032] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention pertains. Commonly used predefined terms should be interpreted as having a meaning consistent with the meaning they have in the context of the relevant art, and should not be interpreted as having an ideal or overly formal meaning unless expressly defined herein.

[0033] In addition, in the description with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. In the description of the embodiments, if a detailed description of related known technology is determined to unnecessarily obscure the gist of the embodiments, the detailed description thereof will be omitted.

[0034] Furthermore, when describing components of an embodiment, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are used to distinguish the component from other components, and do not limit the nature, order, or sequence of the components. When a component is described as being "coupled," "coupled," or "connected" to another component, it should be understood that the component may be directly coupled or connected to the other component, but additional components may be "coupled," "coupled," or "connected" between the components.

[0035] Components having common functions to components included in one embodiment will be described using the same names in other embodiments. Unless otherwise specified, the description of one embodiment may also be applied to other embodiments, and detailed description will be omitted to the extent that it overlaps.

[0036] FIG. 1 is a schematic perspective view of a surgical tool control system according to one embodiment.

[0037] 1, a surgical tool control system 1 according to one embodiment receives an operation command from a user and drives a surgical tool in accordance with the input command. For example, the surgical tool control system 1 may be used for percutaneous transluminal coronary intervention. However, this is merely an example, and the use of the surgical tool control system 1 is not limited thereto.

[0038] In one embodiment, the treatment tool control system 1 includes a master part 10 and a slave part 20. The master part 10 can receive commands from a user and display information to the user. The slave part 20 can receive commands from the master part 10 and drive a treatment tool in accordance with the received commands. For example, the slave part 20 may be installed in a treatment space equipped with an X-ray device, and the master part 10 may be installed in a shielded space separated from the treatment space. Since the user can input commands via the master part 10 in the shielded space, they are not exposed to radiation from X-ray imaging.

[0039] In one embodiment, the master part 10 includes a display 11 and a manipulation assembly 12. The display 11 can provide visual information to a user. For example, the display 11 can display information about the slave part 20 or an X-ray image. The display 11 receives input from a user via a touch panel. The manipulation assembly 12 receives commands from the user to manipulate a surgical tool. The manipulation assembly 12 can transmit the commands input by the user to the drive assembly 23.

[0040] In one embodiment, the slave part 20 includes a slave base 21, an arm 22, and a drive assembly 23. The slave base 21 can provide a base on which the slave part 20 is mounted. The drive assembly 23 is connected to the slave base 21 via at least one arm 22. For example, the at least one arm 22 may connect the drive assembly 23 to the slave base 21 via a link structure. The drive assembly 23 adjusts its position relative to the slave base 21 via the at least one arm 22. At least one surgical tool may be attached to the drive assembly 23. The drive assembly 23 drives the attached at least one surgical tool. For example, the drive assembly 23 may move the surgical tool forward, backward, or rotate. The drive assembly 23 can receive commands from the master part 10 and drive the at least one surgical tool in response to the transmitted commands.

[0041] Figure 2 is a perspective view of a drive assembly according to an embodiment. Figure 3 is a plan view of a drive assembly according to an embodiment. Figure 4 is a view of a drive assembly in use according to an embodiment. Figure 5 is a view showing a process in which a roller module of a drive assembly according to an embodiment moves a surgical tool forward and backward. Figure 6 is a view showing a process in which a roller module of a drive assembly according to an embodiment rotates a surgical tool.

[0042] 2 to 6, the drive assembly 23 can independently control a plurality of surgical tools T. Here, the surgical tool T refers to a surgical tool having a longitudinal direction. For example, the surgical tool T may include various surgical tools having a longitudinal direction, such as a guide wire or a balloon catheter. However, this is merely an example, and the type of the surgical tool T is not limited thereto.

[0043] In one embodiment, the drive assembly 23 includes a plurality of roller modules 231. At least one pair of roller modules 231 may be provided. For example, as shown, five roller modules 231 may be provided. However, this is merely an example, and the number of roller modules 231 is not limited thereto. The plurality of roller modules 231 may be arranged side by side.

[0044] In one embodiment, a treatment tool T may be held between two adjacent roller modules 231. To this end, at least one roller module 231 is horizontally movable toward the other roller modules 231. For example, as shown in FIG. 4, the second roller module 231b is horizontally movable toward the first roller module 231a so that the first treatment tool Ta is held between the first roller module 231a and the second roller module 231b. In this case, the second treatment tool Tb located between the second roller module 231b and the third roller module 231c is released from the grip. Conversely, the second roller module 231b is horizontally movable toward the third roller module 231c so that the second treatment tool Tb is held between the second roller module 231b and the third roller module 231c. In this case, the first treatment tool Ta located between the first roller module 231a and the second roller module 231b is released from the grip.

[0045] Similarly, the fourth roller module 231d becomes horizontally movable toward the third roller module 231c so that the third treatment tool Tc is held between the third roller module 231c and the fourth roller module 231d. In this case, the fourth treatment tool Td positioned between the fourth roller module 231d and the fifth roller module 231e is released from its grip. Conversely, the fourth roller module 231d becomes horizontally movable toward the fifth roller module 231e so that the fourth treatment tool Td is held between the fourth roller module 231d and the fifth roller module 231e. In this case, the third treatment tool Tc positioned between the third roller module 231c and the fourth roller module 231d is released from its grip.

[0046] In one embodiment, the drive assembly 23 can realize forward / backward movement and rotation of the surgical tool T through rotation and vertical movement of the roller module 231. Specifically, as shown in FIG. 5, when the first roller module 231a and the second roller module 231b are positioned adjacent to each other and hold the first surgical tool Ta therebetween, the first roller module 231a and the second roller module 231b can rotate in one direction or the other to move the first surgical tool Ta held therebetween forward or backward along the longitudinal direction. Also, as shown in FIG. 6, when the first roller module 231a and the second roller module 231b are positioned adjacent to each other and hold the first surgical tool Ta therebetween, at least one of the roller modules 231a and 231b can move in the vertical direction to rotate the first surgical tool Ta held therebetween.

[0047] FIG. 7 is a perspective view of an operating assembly according to one embodiment.

[0048] 1 and 7 , a user can input a command to drive a surgical tool into the operation assembly 12 according to one embodiment. The operation assembly 12 can transmit the input command to the drive assembly 23. The operation assembly 12 includes a base housing 121, an operation handle 122, and a jog wheel 123.

[0049] In one embodiment, the base housing 121 can form at least a part of the exterior of the operation assembly 12. The base housing 121 can be fixedly attached to the master part 10. The base housing 121 can provide a space in which various components are disposed inside. For example, components such as a shaft, a gear, and / or a motor can be disposed inside the base housing 121.

[0050] In one embodiment, the operating handle 122 can receive commands from a user to be transmitted to the drive assembly 23. The operating handle 122 may be formed in a shape that allows the user to easily hold it in one hand. However, the position, shape, and / or size of the operating handle 122 shown in the drawings are exemplary and are not limited to those shown. The operating handle 122 can be coupled to the base housing 121 to be able to move forward, backward, and / or rotate.

[0051] In one embodiment, the operating handle 122 can move forward or backward relative to the base housing 121 along the first axis A1. However, the illustrated direction of the first axis A1 is exemplary and is not limited thereto. When the operating handle 122 moves forward or backward along the first axis A1, the operating handle 122 can generate a forward or backward signal for the surgical tool, respectively. The forward or backward signal generated by the operating handle 122 is transmitted to the drive assembly 23, which can rotate the roller module (e.g., the roller module 231 in FIG. 4 ) so that the surgical tool held by the roller module moves forward or backward. With this configuration, when a user moves the operating handle 122 forward along the first axis A1, the surgical tool moves forward, and when the user moves the operating handle 122 backward along the first axis A1, the surgical tool moves backward. The operating handle 122 can change the forward or backward speed of the surgical tool depending on the degree to which the operating handle 122 is moved forward or backward along the first axis A1. For example, the operating handle 122 may change the forward or backward speed of the treatment tool in proportion to the stroke of the operating handle 122 moving forward or backward along the first axis A1. Alternatively, the operating handle 122 may discretely change the forward or backward speed of the treatment tool depending on the section to which the stroke of the operating handle 122 moving forward or backward along the first axis A1 belongs. For example, the forward or backward speed of the treatment tool may be discretely changed by 0.5 times, 1 time, 2 times, or the like depending on the section to which the stroke of the operating handle 122 moving forward or backward along the first axis A1 belongs. The manner in which the forward or backward speed of the treatment tool is changed depending on the degree to which the operating handle 122 is moved forward or backward along the first axis A1 may be changed depending on a user setting.

[0052] In one embodiment, the operating handle 122 can rotate clockwise or counterclockwise relative to the base housing 121 around the first axis A1. When the operating handle 122 rotates clockwise or counterclockwise around the first axis A1, the operating handle 122 generates a clockwise or counterclockwise rotation signal for the surgical tool, respectively. The clockwise or counterclockwise rotation signal generated by the operating handle 122 is transmitted to the drive assembly 23, and at least one of the roller modules 231 (e.g., the roller module 231 in FIG. 4 ) can be moved vertically so that the surgical tool held by the roller module rotates clockwise or counterclockwise. With this configuration, when a user rotates the operating handle 122 clockwise around the first axis A1, the surgical tool rotates clockwise, and when the user rotates the operating handle 122 counterclockwise around the first axis A1, the surgical tool rotates counterclockwise. The operating handle 122 can change the rotation speed of the surgical tool depending on the degree to which the operating handle 122 rotates around the first axis A1. For example, the operating handle 122 may change the rotation speed of the treatment tool in proportion to the rotation angle of the operating handle 122. Alternatively, the operating handle 122 may change the rotation speed of the treatment tool discretely depending on the section to which the rotation angle of the operating handle 122 belongs. For example, when the rotation angle of the operating handle 122 belongs to a first opening section, the rotation speed of the treatment tool may be set to a first speed, and when the rotation angle of the operating handle 122 belongs to a second opening section, the rotation speed of the treatment tool may be set to a second speed. The manner in which the rotation speed of the treatment tool is changed depending on the degree to which the operating handle 122 is rotated may be changed depending on a user setting.

[0053] In one embodiment, the surgical tool can be continuously advanced, rotated, or turned while the operating handle 122 is advanced / rearranged or rotated. When the force applied to the operating handle 122 is released, the operating handle 122 returns to its original position. For example, when the user advances / rearranges or rotates the operating handle 122 and then releases the force, the operating handle 122 returns to its original position, and when the operating handle 122 returns to its original position, the driving of the surgical tool is stopped.

[0054] In one embodiment, the jog wheel 123 may be coupled to the operating handle 122. The jog wheel 123 may rotate clockwise or counterclockwise about the second axis A2 relative to the operating handle 122. When the user holds the operating handle 122 in his or her hand, the user's fingers (e.g., thumb or index finger) may be placed on the jog wheel 123. However, the position, shape, and / or size of the jog wheel 123 shown in the drawings are merely exemplary and are not limited to those shown in the drawings. Furthermore, the direction of the second axis A2 shown in the drawings is merely exemplary and is not limited to the direction of the second axis A2.

[0055] In one embodiment, when the jog wheel 123 rotates clockwise or counterclockwise about the second axis A2, the jog wheel 123 may generate a clockwise or counterclockwise rotation signal for the treatment tool, respectively. The clockwise or counterclockwise rotation signal generated by the jog wheel 123 is transmitted to the drive assembly 23, and at least one of the roller modules 231 (e.g., roller module 231 in FIG. 4 ) may move vertically so that the treatment tool held by the roller module rotates clockwise or counterclockwise. With this configuration, when a user rotates the jog wheel 123 clockwise about the second axis A2, the treatment tool rotates clockwise, and when a user rotates the jog wheel 123 counterclockwise about the second axis A2, the treatment tool rotates counterclockwise.

[0056] In one embodiment, the jog wheel 123 can generate a signal that drives the treatment tool more precisely than the operating handle 122. The jog wheel 123 can rotate discretely in first angle units around the second axis A2 relative to the operating handle 122. By configuring the jog wheel 123 to rotate discretely in first angle units, the user can rotate the jog wheel 123 in units of one graduation (i.e., the first angle unit). For example, the first angle may be 5 degrees. With this configuration, the jog wheel 123 may have a rotation section of a total of 72 graduations. However, this is merely an example, and the first angle is not limited thereto.

[0057] In one embodiment, when the jog wheel 123 is rotated by a first angle, the jog wheel 123 may generate a signal to rotate the treatment tool by a second angle. That is, each time the user rotates the jog wheel 123 by one notch (i.e., the first angle), the treatment tool may be rotated by the second angle. The second angle may be set to be the same as the first angle. For example, if the first angle is 5 degrees, the second angle may also be set to 5 degrees, the same as the first angle. Alternatively, the second angle may be set to be an angle obtained by multiplying the first angle by a scale factor. For example, the scale factor may be set to a number smaller than 1. For example, if the first angle is 5 degrees, the second angle may also be set to 1 degree. Preferably, the second angle may be set in the range of 1 to 5 degrees. However, this is merely an example, and the second angle is not limited thereto. The second angle may be variously changed according to user settings.

[0058] In one embodiment, the manipulation assembly 12 may further include a haptic actuator (not shown). The haptic actuator can provide haptic feedback to the jog wheel 123. For example, referring to FIG. 6 , because there is a physical limit to how far the roller modules 231a and 231b can move vertically, if the surgical tool continues to rotate in one direction, there is a limit at which the drive assembly 23 cannot rotate the surgical tool any further. In this way, when the drive assembly 23 reaches the limit at which it cannot rotate the surgical tool any further, the haptic actuator can provide haptic feedback to the jog wheel 123 when an input beyond the limit is input to the jog wheel 123.

[0059] In one embodiment, when the jog wheel 123 attempts to rotate further in a direction that has reached its limit, the haptic feedback can provide rotational resistance in a direction that hinders the rotation of the jog wheel 123. For example, when the jog wheel 123 attempts to rotate further in a direction that has reached its limit, the haptic actuator can rotate the jog wheel 123 in a bouncing manner in the opposite direction or generate motor torque in the opposite direction, allowing the user to feel the rotational resistance.

[0060] In one embodiment, when the jog wheel 123 tries to rotate further in a direction in which it has reached its limit, the haptic feedback can reduce the rotational resistance in the direction in which the jog wheel 123 rotates. For example, when the jog wheel 123 tries to rotate further in a direction in which it has reached its limit, the haptic actuator can reduce the rotational resistance in the direction in which the jog wheel 123 rotates, causing the user to feel as if the jog wheel 123 is rotating in vain.

[0061] In one embodiment, the haptic feedback may elastically return the jog wheel 123 to its original position (e.g., the limit position) if the jog wheel 123 further rotates in the direction in which it has reached its limit. For example, if an input exceeding the limit is input to the jog wheel 123 when the drive assembly 23 has reached its limit at which it cannot rotate the treatment tool any further, the jog wheel 123 may rotate partially or completely beyond the limit in response to the input, but may be elastically returned to its original position (e.g., the limit position) by the actuator. For example, the actuator may elastically return the jog wheel 123 to its original position (e.g., the limit position) so that the jog wheel 123 reciprocates back and forth between its original position (e.g., the limit position) and the extent of the reciprocation gradually decreases.

[0062] According to the above-described configuration, the user can easily recognize that the drive limit has been reached through the haptic feedback provided by the haptic actuator to the jog wheel 123. While the haptic feedback has been described for the jog wheel 123, the haptic feedback can be applied in substantially the same manner to the operation handle 122. For example, if an input exceeding the limit is input via the operation handle 122 when the drive limit has been reached, the haptic actuator can provide haptic feedback to the operation handle 122.

[0063] In one embodiment, the master part 10 may further include a toggle switch (not shown). The toggle switch may be realized as a physical switch in the operation assembly 12. Alternatively, the toggle switch may be realized as a virtual switch shown on the display 11. The toggle switch may change the mode of the jog wheel 123. For example, depending on the state of the toggle switch, the jog wheel 123 may have a rotation mode or a forward / reverse mode.

[0064] In one embodiment, when the jog wheel 123 is in a rotation mode, a rotation signal of the treatment tool can be generated when the jog wheel 123 rotates around the second axis A2. The rotation mode of the jog wheel 123 is the same as that described above, and therefore the same applies.

[0065] In one embodiment, when the jog wheel 123 is in a forward / reverse mode, it may generate a forward / reverse signal for the treatment tool when it rotates around the second axis A2. For example, when the jog wheel 123 is rotated clockwise or counterclockwise by a first angle, the jog wheel 123 may generate a signal for moving the treatment tool forward or backward by a first pitch, respectively. That is, when the jog wheel 123 is in the forward / reverse mode, the treatment tool may be moved forward or backward by a first pitch each time the user rotates the jog wheel 123 by one scale (i.e., a first angle). The first pitch, which is the distance the treatment tool is moved forward or backward per one scale rotation of the jog wheel 123, may be varied in various ways according to user settings. For example, the first angle may be 1 to 5 degrees. For example, the first pitch may be 0.5 mm to 1.5 mm. For example, the first angle may be 5 degrees and the first pitch may be 1 mm.

[0066] In one embodiment, the operation assembly 12 may include a trackball (not shown). For example, the trackball may be provided on the base housing 121 or the operation handle 122. The trackball is rotatable in all directions. For example, when the trackball rotates left and right, the trackball can generate a rotation signal of the surgical tool. For example, when the trackball rotates up and down, the trackball can generate a forward and backward movement signal of the surgical tool. When the trackball rotates in multiple directions, the trackball can generate a rotation signal and a forward and backward movement signal of the surgical tool using left and right components and up and down components, respectively.

[0067] FIG. 8 is a perspective view of an operating assembly according to one embodiment.

[0068] 8 , a command to drive a surgical tool is input from a user to the operation assembly 12 according to one embodiment. The operation assembly 12 can transmit the input command to the drive assembly 23. The operation assembly 12 includes a base housing 121, an operation handle 122, a first jog wheel 123, and a second jog wheel 124.

[0069] In the following description of the operation assembly 12 shown in Figure 8, in order to avoid excessive duplication, specific descriptions of the same configuration as the operation assembly 12 shown in Figure 7 will be omitted, and the contents of the operation assembly 12 shown in Figure 7 will be followed to the extent that they do not contradict each other.

[0070] Referring to FIG. 8 , in one embodiment, the operating handle 122 receives commands from a user to be transmitted to the drive assembly 23. For example, the operating handle 122 includes a handle base 1220, a first handle 1221, and a second handle 1222. The handle base 1220 refers to a base portion of the operating handle 122. The first handle 1221 extends upward from the handle base 1220. The first handle 1221 may be formed in a shape that allows a user to easily hold it with one hand. For example, the first handle 1221 may extend from the handle base 1220 so as to be inclined forward. The second handle 1222 may extend from one side of the handle base 1220. For example, the second handle 1222 may be formed to have a smaller size (e.g., height) than the first handle 1221. For example, a user may hold the first handle 1221 with one hand to operate the operating handle 122. For example, a user may move the operating handle 122 forward and / or backward along the first axis A1 relative to the base housing 121, or rotate it about the first axis A1. Meanwhile, the position, shape, and / or size of the operating handle 122 shown in the drawings are exemplary and are not limited to those shown in the drawings. For example, the second handle 1222 may be configured as a separate handle separated from the handle base 1220. For example, the first handle 1221 and the second handle 1222 may be configured as individual handles so that the user can hold the first handle 1221 with one hand and the second handle 1222 with the other hand.

[0071] In one embodiment, the first jog wheel 123 may be coupled to the first handle 1221. The first jog wheel 123 may be rotated clockwise or counterclockwise about the second axis A2 relative to the first handle 1221. When the user holds the first handle 1221 with his or her hand, a user's finger (e.g., thumb or index finger) may be placed on the first jog wheel 123. The first jog wheel 123 has substantially the same configuration as the jog wheel 123 described with reference to FIG. 7 , and therefore, the description of the jog wheel 123 described with reference to FIG. 7 applies. For example, when the first jog wheel 123 rotates about the second axis A2, the first jog wheel 123 may generate a forward / backward movement signal (or a rotation signal) of the treatment tool.

[0072] In one embodiment, the second jog wheel 124 may be coupled to the second handle 1222. The second jog wheel 124 may be rotated clockwise or counterclockwise about the third axis A3 relative to the second handle 1222. For example, a user may hold the first handle 1221 with one hand (e.g., the right hand) to control the operating handle 122 and / or the first jog wheel 123, and control the second jog wheel 124 located on the second handle 1222 with the other hand (e.g., the left hand). However, this is merely an example, and the user's gripping method is not limited thereto. The second jog wheel 124 may perform substantially the same function as the jog wheel 123 described with reference to FIG. 7. Therefore, the description of the function of the second jog wheel 124 shall be the same as that of the jog wheel 123 described with reference to FIG. 7. For example, when the second jog wheel 124 rotates around the third axis A3, the second jog wheel 124 may generate a rotation signal (or a forward / backward signal) of the surgical tool.

[0073] In one embodiment, the first jog wheel 123 and the second jog wheel 124 may be configured to generate different drive signals. For example, the first jog wheel 123 may generate a drive signal for advancing a surgical tool, and the second jog wheel 124 may generate a drive signal for rotating the surgical tool. For example, the first jog wheel 123 and the second jog wheel 124 may be configured to provide more precise control of the surgical tool than the control of the surgical tool by advancing / reversing and rotating the operating handle 122. For example, the first jog wheel 123 may generate a signal for advancing / reversing the surgical tool to a smaller extent than the extent of the advance / reverse movement of the surgical tool caused by the advance / reverse movement of the operating handle 122. For example, the second jog wheel 124 may generate a signal for rotating the surgical tool to a smaller extent than the extent of the rotation of the surgical tool caused by the rotation of the operating handle 122. However, this is merely an example, and conversely, the first jog wheel 123 may generate a drive signal for rotating the surgical tool, and the second jog wheel 124 may generate a drive signal for advancing the surgical tool. For example, one of the first jog wheel 123 and the second jog wheel 124 may generate a signal for rotating the surgical tool clockwise or counterclockwise, and the other may generate a signal for advancing or reversing the surgical tool.

[0074] In one embodiment, a user can specify any operation control of a treatment tool for the forward / backward movement of the operating handle 122, the rotation of the operating handle 122, the rotation of the first jog wheel 123, and the rotation of the second jog wheel 124. For example, any one of a first forward / backward movement of the treatment tool, a first rotational movement of the treatment tool, a second forward / backward movement of the treatment tool, and a second rotational movement of the treatment tool may be specified for the forward / backward movement of the operating handle 122, the rotation of the first jog wheel 123, and the rotation of the second jog wheel 124, respectively. For example, the first forward / backward movement may be a movement of moving the treatment tool forward / backward to a relatively greater extent than the second forward / backward movement, and the second forward / backward movement may be a movement of moving the treatment tool forward / backward to a relatively smaller extent than the first forward / backward movement. For example, the first rotational motion may be a motion that rotates the surgical tool by a relatively larger amount than the second rotational motion, and the second rotational motion may be a motion that rotates the surgical tool by a relatively smaller amount than the first rotational motion. For example, the user may set the operation assembly 12 to move the surgical tool forward or backward by a relatively larger amount by moving the operating handle 122 forward or backward, rotate the surgical tool by a relatively larger amount by rotating the operating handle 122, move the surgical tool forward or backward by a relatively smaller amount by rotating the first jog wheel 123, and rotate the surgical tool by a relatively smaller amount by rotating the second jog wheel 124. However, this is merely an example, and the operation control of the surgical tool specified for each operation method is not limited to this. For example, the user may not specify the operation control of the surgical tool for some operation methods as needed. For example, the user may control the operation of the surgical tool only with the first jog wheel 123 and the second jog wheel 124 without specifying the forward / backward movement and rotation of the operating handle 122 to control the operation of the surgical tool.

[0075] Although the embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is not limited to the above-described embodiments, and a person skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in an order different from that described, and / or the components of the described systems, structures, devices, circuits, etc. may be combined or combined in a form different from that described, or may be substituted or replaced by other components or equivalents, and still achieve appropriate results.

[0076] Accordingly, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.

Claims

1. A treatment tool control system, a drive assembly capable of advancing, reversing, or rotating an attached surgical tool; an operating handle into which commands are input by a user to be transmitted to the drive assembly; Including, The operating handle is When the operating handle is moved forward or backward along a first axis, a forward or backward signal of the surgical tool is generated, respectively; a surgical tool control system that generates a clockwise or counterclockwise rotation signal of the surgical tool when the operating handle rotates clockwise or counterclockwise about the first axis, respectively;

2. a jog wheel coupled to the operating handle and rotatable about a second axis relative to the operating handle; The surgical tool control system of claim 1 , wherein the jog wheel generates a clockwise or counterclockwise rotation signal of the surgical tool when the jog wheel rotates clockwise or counterclockwise about the second axis, respectively.

3. 3. The treatment tool control system of claim 2, wherein the jog wheel rotates discretely in first angle units around the second axis relative to the operating handle, and the jog wheel generates a signal to rotate the treatment tool by a second angle when the jog wheel rotates by the first angle.

4. The surgical tool control system according to claim 3 , wherein the second angle is set to be equal to the first angle or is set to an angle obtained by multiplying the first angle by a scale factor.

5. The treatment tool control system according to claim 4, wherein the second angle is between 1 degree and 5 degrees.

6. The treatment tool control system of claim 2, further comprising a haptic actuator that provides haptic feedback to the jog wheel when an input greater than the limit is input to the jog wheel in a state where the drive assembly has reached a limit at which it can no longer rotate the treatment tool.

7. The treatment tool control system according to claim 6 , wherein the haptic feedback provides rotational resistance in a direction that prevents the jog wheel from rotating when the jog wheel attempts to rotate further in the direction in which the limit has been reached.

8. The treatment tool control system according to claim 6 , wherein the haptic feedback reduces rotational resistance in a direction in which the jog wheel rotates when the jog wheel attempts to rotate further in a direction in which the limit has been reached.

9. The treatment tool control system according to claim 6 , wherein the haptic feedback elastically returns the jog wheel to its original position if the jog wheel rotates further in the direction in which the limit has been reached.

10. a toggle switch for changing the mode of the jog wheel; 3. The treatment tool control system of claim 2, wherein the jog wheel generates a rotation signal for the treatment tool or a forward / reverse signal for the treatment tool when the jog wheel rotates around the second axis depending on the state of the toggle switch.

11. The surgical tool control system according to claim 1 , wherein the operating handle changes the rotation speed of the surgical tool in proportion to a rotation angle of the operating handle when the operating handle rotates around the first axis.

12. The treatment tool control system according to claim 1 , wherein the operating handle discretely changes the rotation speed of the treatment tool depending on a section to which a rotation angle of the operating handle belongs when the operating handle rotates around the first axis.

13. The surgical tool control system according to claim 1 , wherein the operating handle changes the forward or backward speed of the surgical tool according to the degree to which the operating handle is moved forward or backward along the first axis.

14. The surgical tool control system according to claim 13, wherein the operating handle discretely changes the forward or backward speed of the surgical tool depending on a section to which a stroke in which the operating handle is moved forward or backward around the first axis belongs.

15. a first jog wheel coupled to the operating handle and rotatable about a second axis relative to the operating handle; a second jog wheel coupled to the operating handle and rotatable about a third axis relative to the operating handle; 2. The surgical tool control system according to claim 1, wherein one of the first jog wheel and the second jog wheel generates a clockwise or counterclockwise rotation signal for the surgical tool, and the other generates a forward or backward movement signal for the surgical tool.

16. a first jog wheel coupled to the operating handle and rotatable about a second axis relative to the operating handle; a second jog wheel coupled to the operating handle and rotatable about a third axis relative to the operating handle; 2. The treatment tool control system according to claim 1, wherein the forward / backward movement of the operating handle, the rotation of the operating handle, the rotation of the first jog wheel, and the rotation of the second jog wheel are each assigned one of a first forward / backward movement of the treatment tool, a first rotational movement of the treatment tool, a second forward / backward movement of the treatment tool, and a second rotational movement of the treatment tool.

17. the drive assembly includes a first roller module and a second roller module; 2. The treatment tool control system of claim 1, wherein the drive assembly rotates the first roller module and the second roller module to move the treatment tool forward and backward while the treatment tool is held between the first roller module and the second roller module, or moves at least one of the first roller module and the second roller module vertically to rotate the treatment tool.

18. a jog wheel coupled to the operating handle and rotatable about a second axis relative to the operating handle; The surgical tool control system of claim 1 , wherein the jog wheel generates a forward or reverse signal for the surgical tool when the jog wheel rotates clockwise or counterclockwise about the second axis.

19. The jog wheel rotates discretely by a first angle around a second axis relative to the operating handle, and the jog wheel generates a signal to move the treatment tool forward or backward by a first pitch when the jog wheel rotates by the first angle.

20. The treatment tool control system according to claim 19, wherein the first angle is between 1 degree and 5 degrees, and the first pitch is between 0.5 mm and 1.5 mm.

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